All-terrain composite walking mechanism

Abstract

The invention relates to an improved all-terrain composite walking mechanism. The mechanism comprises a crawler belt and a driving wheel arranged in the middle of the crawler belt, and also comprisesa drive wheel arranged at one corner of the crawler belt and engaged with the crawler belt, and driven wheels respectively arranged at other corresponding corners of the crawler belt. The driving wheels are connected with the drive wheel through a chain and drive the drive wheel to move. The mechanism further comprises a bracket arranged coaxially with the driving wheel and used for defining the positions of the drive wheel and the driven wheels. The mechanism has following two working states: a state in which the driving wheel drives the drive wheel to rotate through the chain, and the drivewheel drives the crawler belt to rotate along with the drive wheel; and a state in which the crawler belt and the drive wheel are connected into an integral body and cannot move, and the driving wheeldrives the whole traveling mechanism to do the integral overturning for surmounting an obstacle. The traveling mechanism of the invention not only can adapt to the complex and unstructured terrain, but also can climb the steps and steep slopes with a certain height, and has all-terrain walking and extremely strong obstacle-crossing ability.

Description

technical field [0001] The invention relates to a walking mechanism suitable for overcoming obstacles and complex unstructured environments, in particular to an all-terrain composite walking mechanism. Background technique [0002] Although circular wheels have the advantages of maneuverability, flexibility, and small required driving force, they also have some problems, such as small contact surface, high contact pressure, and poor obstacle-crossing ability. In the face of complex unstructured environments, such as ground with deep snow, extremely soft soil, deserts, grasslands with high weeds and other terrains, the round wheels are prone to sinking and causing skidding and making it impossible to walk; while for There are raised obstacles, such as rocks, and round wheels will not be able to pass; and in structured environments, round wheels will often not be able to cross obstacles such as steps (stairs). Contents of the invention [0003] In order to solve the above-m...

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Problems solved by technology

[0002] Although circular wheels have the advantages of maneuverability, flexibility and the required driving force are small, there are also some problems, such as small contact surface, high contact pressure, poor obstacle-crossing ability, etc.

In the face of complex unstructured environments, such as ground with deep snow, extremely soft soil, deserts, grasslands with high weeds and other terrains, the round wheels are prone to sinking and causing skidding and making it impossible to walk; while for There are raised obstacles, such as rocks, and round wheels are also impassable; and in structured environments, round wheels are often unable to cross obstacles such as steps (stairs)

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